The invention relates to the technical field of vehicle trajectory planning, in particular to a reference trajectory planning method and device for a vehicle, electronic equipment and a storage medium, and the method comprises the steps: determining a current lane of the vehicle through obtaining the positioning information of the vehicle, calculating the lane width of the current lane according to two lane lines of the current lane, and determining the reference trajectory of the vehicle according to the calculated lane width. When the lane width does not meet the preset width requirement, track points of a reference line of the vehicle are determined, third-order B-spline interpolation processing is performed according to the track points to obtain B-spline interpolation points, the B-spline interpolation points are fitted to generate a target track equation, and then a reference track of the vehicle is planned according to the target track equation. According to the reference trajectory planning method of the vehicle, the reference trajectory coordinates calculated by the high-precision map lane information are smoothed through the B-spline method, and the reference trajectory equation is generated through the least square method, so that the precision of trajectory planning and the driving safety are improved.

    本申请涉及车辆轨迹规划技术领域,特别涉及一种车辆的参考轨迹规划方法、装置、电子设备及存储介质,其中,方法包括:通过获取车辆的定位信息确定车辆的当前所处车道,根据当前所处车道的两条车道线计算当前所处车道的车道宽度,在车道宽度不满足预设宽度要求时,确定车辆的参考线的轨迹点,并根据轨迹点进行三阶B样条插值处理,得到B样条插值点,对其拟合生成目标轨迹方程,进而根据目标轨迹方程规划车辆的参考轨迹。根据本申请实施例的车辆的参考轨迹规划方法,通过B样条方法对高精度地图车道信息计算出的参考轨迹坐标进行平滑处理,并由最小二乘方法生成参考轨迹方程,以提高规划轨迹的精度及驾驶安全性。


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    Title :

    Reference trajectory planning method and device of vehicle, electronic equipment and storage medium


    Additional title:

    车辆的参考轨迹规划方法、装置、电子设备及存储介质


    Contributors:
    LI CHENG (author) / WANG YUEQIANG (author) / REN FAN (author)

    Publication date :

    2023-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion





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